摘要
针对无人帆船的避障需求构建无人帆船自主避障系统,提出基于A*的帆船避障路径规划算法和基于LOS的帆船循迹控制算法。案例帆船的仿真测试和航行测试均成功实现多个障碍物场景下的自主避障航行,较为充分地证明了该方法的可行性和实时性,对无人帆船应用具有重要意义。
Aiming at the obstacle avoidance system for autonomous sailboat, the customized A＊ route planning algorithm and the LOS path-following control algorithm are presented. The simulation tests and the sailing tests of a model sailboat achieve the successful obstacle avoidance for multiple scenarios, which validates the effectiveness and real-time performance of the proposed algorithms. It has significant values for the application of autonomous sailboat.
作者
徐建云
许劲松
侯春晓
XU Jianyun;XU Jinsong;HOU Chunxiao(Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration,Shanghai Jiao Tong University,Shanghai 200240,China)
出处
《船舶工程》
CSCD
北大核心
2018年第8期61-65,共5页
Ship Engineering
关键词
无人帆船
自主避障
A＊路径规划
LOS循迹控制
autonomous sailboat
obstacle avoidance
A^＊ route plannmg
LOS path-followmg control
